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Axel described the high-octane stunt, which has been posted on YouTube, as "quite therapeutic."

"I find doing this a huge release. I used to be really afraid of heights and I wanted to battle that, and climbing the bridge was really therapeutic," he told the Hull Daily Mail.

The stomach turning footage was released on YouTube

Axel and Jay headed out on their adventure 6.46am on Wednesday morning after sleeping in their car overnight.

It comes just two months after a group of urban explorers, led by popular vlogger Night Scape, scaled the iconic bridge. Footage of the climb has since been viewed more than 700,000 times.

Axel added: "I don't really know how to put it into words but you do get a bit of a high. I'm quite wary if there's too much adrenaline though because that's when I know I need to get down."

On the video, Jay said: “Everyone is going to work and they’re just seeing two crackheads walk up the bridge.”

As the men climbed up past the safety gate and onto the framework of the 500 ft bridge, Jay said: “Oh my god, look at the size of it. Even the footpath is closed. We’ve nearly died already. This is in broad daylight.”

Axel said: "We hadn't seen the bridge before we got there to do the climb and it was exciting seeing it.

"It isn't the highest I've climbed though. I've climbed cranes that are 300ft in the air and I do a lot of rooftop stuff. Luckily every climb I've done has been successful. It's now my full-time job."

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With cars beeping and the traffic getting heavier, it wasn’t long before they had to turn around and make a dash back to their car.

After seeing one of the security cameras fixed to the tower moving to record them, the men decided to get down from the bridge.

Jay says: “We need to get down. There’s police lights on the motorway. The police are definitely coming 100 per cent.”

The footage fades to black and fast forwards to the duo running from the bridge, with Jay saying: “We’re running to the car and we can see the sirens coming straight for us.”

After the men stopped to get a selfie with a passer-by, police officers can be seen waiting by the car to speak to the men.

“They did all the checks on us but they told us we didn't commit a criminal offence,” said Jay.

Axel added: "I would tell anyone wanting to replicate us to just be careful. I get people on my YouTube channel telling me I inspire them, and I just have to tell them to take things slowly.

"If climbing is your passion then take things slowly and work out what you're doing. Don't make your first climb somewhere with a sheer drop and I wouldn't recommend this at all to someone who doesn't know what they're doing."

Vloggers climbing up the Humber Bridge were confronted by the police

A spokesman for Humberside Police said: “Police were called at 7.03am on Wednesday, July 26 reporting concern for two men climbing the cables on the Humber Bridge at the Barton side.

“We attended and spoke to the men highlighting how dangerous their actions were, however no further police action was taken.

“From a safety perspective we’d urge people do not put themselves at risk by taking part in such potentially hazardous activity.”